WO2007120351A3 - Medical robotic system providing three-dimensional telestration - Google Patents

Medical robotic system providing three-dimensional telestration Download PDF

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Publication number
WO2007120351A3
WO2007120351A3 PCT/US2006/062381 US2006062381W WO2007120351A3 WO 2007120351 A3 WO2007120351 A3 WO 2007120351A3 US 2006062381 W US2006062381 W US 2006062381W WO 2007120351 A3 WO2007120351 A3 WO 2007120351A3
Authority
WO
WIPO (PCT)
Prior art keywords
telestration
robotic system
medical robotic
pair
view
Prior art date
Application number
PCT/US2006/062381
Other languages
French (fr)
Other versions
WO2007120351A2 (en
Inventor
Christopher Hasser
David Larkin
Brian Miller
Guanghua Zhang
William Nowlan
Original Assignee
Intuitive Surgical, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Intuitive Surgical, Inc. filed Critical Intuitive Surgical, Inc.
Priority to EP16180658.3A priority Critical patent/EP3107286B1/en
Priority to CN2006800479931A priority patent/CN102143706B/en
Priority to EP06851012.2A priority patent/EP1965699B1/en
Priority to KR1020087016218A priority patent/KR101407986B1/en
Publication of WO2007120351A2 publication Critical patent/WO2007120351A2/en
Publication of WO2007120351A3 publication Critical patent/WO2007120351A3/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/367—Correlation of different images or relation of image positions in respect to the body creating a 3D dataset from 2D images using position information

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Gynecology & Obstetrics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Endoscopes (AREA)
  • Electrically Operated Instructional Devices (AREA)
  • Manipulator (AREA)

Abstract

A medical robotic system provides 3D telestration over a 3D view of an anatomical structure by receiving a 2D telestration graphic input associated with one of a pair of stereoscopic images of the anatomical structure from a mentor surgeon, determining a corresponding 2D telestration graphic input in the other of the pair of stereoscopic images using a disparity map, blending the telestration graphic inputs into respective ones of the pair of stereoscopic images, and providing the blended results to a 3D display so that a 3D view of the telestration graphic input may be displayed as an overlay to a 3D view of the anatomical structure to an operating surgeon.
PCT/US2006/062381 2005-12-30 2006-12-20 Medical robotic system providing three-dimensional telestration WO2007120351A2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP16180658.3A EP3107286B1 (en) 2005-12-30 2006-12-20 Medical robotic system providing three-dimensional telestration
CN2006800479931A CN102143706B (en) 2005-12-30 2006-12-20 Medical robotic system providing three-dimensional telestration
EP06851012.2A EP1965699B1 (en) 2005-12-30 2006-12-20 Medical robotic system providing three-dimensional telestration
KR1020087016218A KR101407986B1 (en) 2005-12-30 2006-12-20 Medical robotic system providing three-dimensional telestration

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US11/322,879 US20070167702A1 (en) 2005-12-30 2005-12-30 Medical robotic system providing three-dimensional telestration
US11/322,879 2005-12-30

Publications (2)

Publication Number Publication Date
WO2007120351A2 WO2007120351A2 (en) 2007-10-25
WO2007120351A3 true WO2007120351A3 (en) 2011-06-03

Family

ID=38264096

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2006/062381 WO2007120351A2 (en) 2005-12-30 2006-12-20 Medical robotic system providing three-dimensional telestration

Country Status (8)

Country Link
US (1) US20070167702A1 (en)
EP (2) EP1965699B1 (en)
JP (1) JP5373263B2 (en)
KR (1) KR101407986B1 (en)
CN (1) CN102143706B (en)
DE (1) DE102006059380A1 (en)
FR (1) FR2898264A1 (en)
WO (1) WO2007120351A2 (en)

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